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linux: Convert linux SPI code to use the generic spicmds.c code

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Use the generic spi send/receive code on Linux.  Update the replicape
code to use the updated command format.

Also, update the replicape code to turn off the stepper motors on a
shutdown event.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-05-04 20:23:58 -04:00
parent 31ae74c56c
commit f70fefa06f
4 changed files with 53 additions and 24 deletions
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26
klippy/extras/replicape.py
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@ -7,8 +7,7 @@ import logging
import pins, mcu
REPLICAPE_MAX_CURRENT = 3.84
REPLICAPE_SHIFT_REGISTER_BUS = 1
REPLICAPE_SHIFT_REGISTER_DEVICE = 1
REPLICAPE_SHIFT_REGISTER_BUS = 0x0101
REPLICAPE_PCA9685_BUS = 2
REPLICAPE_PCA9685_ADDRESS = 0x70
REPLICAPE_PCA9685_CYCLE_TIME = .001
@ -137,7 +136,7 @@ class Replicape:
"power_fan0": (pca9685_pwm, 7), "power_fan1": (pca9685_pwm, 8),
"power_fan2": (pca9685_pwm, 9), "power_fan3": (pca9685_pwm, 10) }
# Setup stepper config
self.send_spi_cmd = None
self.spi_send_cmd = None
self.last_stepper_time = 0.
self.stepper_dacs = {}
shift_registers = [1, 0, 0, 1, 1]
@ -177,13 +176,18 @@ class Replicape:
shift_registers[4] &= ~1
self.sr_enabled = tuple(reversed(shift_registers))
self.host_mcu.add_config_object(self)
self.host_mcu.add_config_cmd("send_spi bus=%d dev=%d msg=%s" % (
REPLICAPE_SHIFT_REGISTER_BUS, REPLICAPE_SHIFT_REGISTER_DEVICE,
"".join(["%02x" % (x,) for x in self.sr_disabled])))
self.sr_oid = self.host_mcu.create_oid()
str_sr_disabled = "".join(["%02x" % (x,) for x in self.sr_disabled])
self.host_mcu.add_config_cmd(
"config_spi_without_cs oid=%d bus=%d mode=0 rate=50000000"
" shutdown_msg=%s" % (
self.sr_oid, REPLICAPE_SHIFT_REGISTER_BUS, str_sr_disabled))
self.host_mcu.add_config_cmd("spi_send oid=%d data=%s" % (
self.sr_oid, str_sr_disabled), is_init=True)
def build_config(self):
cmd_queue = self.host_mcu.alloc_command_queue()
self.send_spi_cmd = self.host_mcu.lookup_command(
"send_spi bus=%u dev=%u msg=%*s", cq=cmd_queue)
self.spi_send_cmd = self.host_mcu.lookup_command(
"spi_send oid=%c data=%*s", cq=cmd_queue)
def note_pwm_start_value(self, channel, start_value, shutdown_value):
self.mcu_pwm_start_value |= not not start_value
self.mcu_pwm_shutdown_value |= not not shutdown_value
@ -215,10 +219,8 @@ class Replicape:
return
print_time = max(print_time, self.last_stepper_time + PIN_MIN_TIME)
clock = self.host_mcu.print_time_to_clock(print_time)
# XXX - the send_spi message should be scheduled
self.send_spi_cmd.send([REPLICAPE_SHIFT_REGISTER_BUS,
REPLICAPE_SHIFT_REGISTER_DEVICE, sr],
minclock=clock, reqclock=clock)
# XXX - the spi_send message should be scheduled
self.spi_send_cmd.send([self.sr_oid, sr], minclock=clock, reqclock=clock)
def setup_pin(self, pin_params):
pin = pin_params['pin']
if pin not in self.pins: